다관절 복합이동 해저로봇에 적용된 탄소섬유 복합소재 프레임에 대한 진수/인양 조건에서의 구조해석

Abstract

This paper describes finite element analysis(FEA) for the body frame of 200 meter class multi-legged subsea robot, Crabster200(CR200). The body frame of CR200 is designed as a rib cage in order to disperse applied external loads and is made of carbon fiber reinforced plastic(CFRP). Therefore, the frame is lighter and stronger than a frame of the other conventional materials. In order to perform the reasonable FEA for CFRP body frame, we carried out specimen test of CFRP. Using the obtained material properties from the test, we performed FEA with respect to load conditions of launch and recovery process on the sea. Also, we performed FEA of the frame with conventional material to compare characteristics to CFRP. of carbon fiber reinforced plastic(CFRP). Therefore, the frame is lighter and stronger than a frame of the other conventional materials. In order to perform the reasonable FEA for CFRP body frame, we carried out specimen test of CFRP. Using the obtained material properties from the test, we performed FEA with respect to load conditions of launch and recovery process on the sea. Also, we performed FEA of the frame with conventional material to compare characteristics to CFRP.